DIO 6533 Register-Level Programmer Manual December 1997 Edition Part Number 341329A-01 Preliminary The contents of this document are preliminary and are subject to change without notice. This document may contain errors, omissions, or information that no longer applies. Copyright 1997 National Instruments Corporation. All rights reserved.
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Important Information Warranty Copyright Trademarks The DIO 6533 devices are warranted against defects in materials and workmanship for a period of one year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective during the warranty period. This warranty includes parts and labor. The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free. A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty. National Instruments believes that the information in this manual is accurate. The document has been carefully reviewed for technical accuracy. In the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected. In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it. EXCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. This limitation of the liability of National Instruments will apply regardless of the form of action, whether in contract or tort, including negligence. Any action against National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or service failures caused by owner s failure to follow the National Instruments installation, operation, or maintenance instructions; owner s modification of the product; owner s abuse, misuse, or negligent acts; and power failure or surges, fire, flood, accident, actions of third parties, or other events outside reasonable control. Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National Instruments Corporation. CVI, Component Works, DAQCard, LabVIEW, Mite, NI-DAQ, RTSI, and VirtualBench are trademarks of National Instruments Corporation. Product and company names listed are trademarks or trade names of their respective companies. WARNING REGARDING MEDICAL AND CLINICAL USE OF NATIONAL INSTRUMENTS PRODUCTS National Instruments products are not designed with components and testing intended to ensure a level of reliability suitable for use in treatment and diagnosis of humans. Applications of National Instruments products involving medical or clinical treatment can create a potential for accidental injury caused by product failure, or by errors on the part of the user or application designer. Any use or application of National Instruments products for or involving medical or clinical treatment must be performed by properly trained and qualified medical personnel, and all traditional medical safeguards, equipment, and procedures that are appropriate in the particular situation to prevent serious injury or death should always continue to be used when National Instruments products are being used. National Instruments products are NOT intended to be a substitute for any form of established process, procedure, or equipment used to monitor or safeguard human health and safety in medical or clinical treatment.
Table of Contents About This Manual Organization of This Manual...vii Conventions Used in This Manual...vii National Instruments Documentation...viii Related Documentation...ix Customer Communication...ix Chapter 1 General Description General Characteristics...1-1 Chapter 2 Programming Bus Initialization...2-2 PCI-DIO-32HS and PXI-6533 Local Bus...2-2 PCI-DIO-32HS and PXI-6533 Initialization for the PC...2-2 AT-DIO-32HS Plug and Play...2-4 DAQCard-6533 Initialization...2-6 Windowing Registers...2-7 AT-DIO-32HS and DAQCard-6533...2-7 Programming Examples...2-7 PCI-DIO-32HS and PXI-6533...2-8 PCI-DIO-32HS Example 1...2-8 AT-DIO-32HS...2-9 AT-DIO-32HS Example 1...2-9 DAQCard-6533...2-10 DAQCard-6533 Example 1...2-10 Interrupt Programming...2-11 DMA Programming...2-11 PCI-DIO-32HS and PXI-6533...2-11 PCI-DIO-32HS and PXI-6533 Example 5...2-12 AT-DIO-32HS...2-17 AT-DIO-32HS Example 5...2-18 RTSI...2-18 National Instruments Corporation v DIO 6533 Register-Level Programmer Manual
Table of Contents PCI-DIO-32HS, PXI-6533, and AT-DIO-32HS... 2-18 Programming the RTSI Bus Interface... 2-18 Programming the RTSI Bus Switch... 2-20 Initializing the RTSI Bus Switch... 2-22 RTSI Bus Register Group... 2-22 RTSI_SERIAL_REG... 2-23 RTSI_PARALLEL_REG... 2-24 Appendix A Customer Communication Glossary Index Figures Figure 2-1. DMA Link Chaining Mode Structure... 2-12 Figure 2-2. RTSI Switch Control Pattern... 2-20 Tables Table 2-1. RTSI Switch Signal Connections Side A... 2-18 Table 2-2. RTSI Switch Signal Connections Side B... 2-19 DIO 6533 Register-Level Programmer Manual vi National Instruments Corporation
About This Manual Organization of This Manual This manual contains information concerning the register-level programming of DIO 6533 (DIO-32HS) devices. The DAQ-DIO is an application specific integrated circuit (ASIC) designed by National Instruments. Consequently, this manual repeats certain information from, or draws your attention to, sections in the DAQ-DIO Technical Reference Manual. You must use your register-level programmer manual along with the DAQ-DIO Technical Reference Manual for a complete understanding of DIO 6533 device programming. The DIO 6533 Register-Level Programmer Manual is organized as follows: Chapter 1, General Description, describes the general characteristics of the DIO 6533 devices. Chapter 2, Programming, contains register-level programming instructions for operating the circuitry on the DIO 6533 devices. Appendix A, Customer Communication, contains forms you can use to request help from National Instruments or to comment on our products. The Glossary contains an alphabetical list and description of terms used in this manual, including acronyms, abbreviations, metric prefixes, mnemonics, and symbols. The Index contains an alphabetical list of key terms and topics in this manual, including the page where you can find each one. Conventions Used in This Manual The following conventions are used in this manual: National Instruments Corporation vii DIO 6533 Register-Level Programmer Manual
About This Manual <> Angle brackets containing numbers separated by an ellipsis represent a range of values associated with a bit or signal name (for example, DBIO<3..0>). This icon to the left of bold italicized text denotes a note, which alerts you to important information.! This icon to the left of bold italicized text denotes a caution, which advises you of precautions to take to avoid injury, data loss, or a system crash. This icon to the left of bold italicized text denotes a warning, which advises you of precautions to take to avoid being electrically shocked. bold italic italic monospace DIO 6533 device Bold italic text denotes a note, caution, or warning. Italic text denotes emphasis, a cross reference, or an introduction to a key concept. This font also denotes text from which you supply the appropriate word or value, as in Windows 3.x. Text in this font denotes text or characters that should literally enter from the keyboard, sections of code, programming examples, and syntax examples. This font is also used for the proper names of disk drives, paths, directories, programs, subprograms, subroutines, device names, functions, operations, variables, filenames and extensions, and for statements and comments taken from programs. DIO 6533 device refers to the PCI-DIO-32HS, PXI-6533, AT-DIO-32HS, and the DAQCard-6533, unless otherwise noted. Abbreviations, acronyms, metric prefixes, mnemonics, symbols, and terms are listed in the Glossary. National Instruments Documentation DIO 6533 Register-Level Programmer Manual is one piece of the documentation set for your data acquisition system. You could have any of several types of manuals, depending on the hardware and software in your system. Use the different types of manuals you have as follows: Your DAQ hardware user manuals These manuals have detailed information about the DAQ hardware that plugs into or is connected to your computer. Use these manuals for hardware DIO 6533 Register-Level Programmer Manual viii National Instruments Corporation
About This Manual Related Documentation installation and configuration instructions, specification information about your DAQ hardware, and application hints. Software documentation You might have several sets of software documentation, including LabVIEW, LabWindows /CVI, ComponentWorks, VirtualBench, and NI-DAQ. After you have set up your hardware system, use either the application software (LabVIEW or LabWindows/CVI) or the NI-DAQ documentation to help you write your application. If you have a large and complicated system, it is worthwhile to look through the software documentation before you configure your hardware. Accessory installation guides or manuals If you are using accessory products, read the terminal block and cable assembly installation guides. They explain how to physically connect the relevant pieces of the system. Consult these guides when you are making your connections. The following National Instruments documents contain additional information required for operating and programming your DIO 6533 device: DIO 6533 User Manual This manual describes the features, functions, and modes of the DIO 6533 devices and explains how to connect to and operate these devices DAQ-DIO Technical Reference Manual This manual describes the registers of the DAQ-DIO and how to program them. The DAQ-DIO contains the digital I/O logic for the DIO 6533 devices The following documents also contains information you will need: ISA Plug and Play Specification, version 1.0. (available from Intel) PC Card Standard; Card Services Specification, Socket Services Specification, and other volumes. Personal Computer Memory Card International Association (PCMCIA) National Instruments Corporation ix DIO 6533 Register-Level Programmer Manual
About This Manual Customer Communication National Instruments wants to receive your comments on our products and manuals. We are interested in the applications you develop with our products, and we want to help if you have problems with them. To make it easy for you to contact us, this manual contains comment and configuration forms for you to complete. These forms are in Appendix A, Customer Communication, at the end of this manual. DIO 6533 Register-Level Programmer Manual x National Instruments Corporation
General Description Chapter 1 General Characteristics This chapter describes the general characteristics of the DIO 6533 devices. The DIO 6533 devices are 32-bit parallel digital I/O interfaces for several different types of computers. The DIO 6533 devices include the following cards: PCI-DIO-32HS, for PCI buses PXI-6533, for PXI and CompactPCI chassis AT-DIO-32HS, for AT (16-bit ISA) buses DAQCard-6533, for computers equipped with Type II PCMCIA slots Each DIO 6533 device contains three types of logic that you can program: System bus interface logic, which allows you to assign system resources, such as a base address, to the device. Digital I/O logic, implemented by the DAQ-DIO. See the DAQ-DIO Technical Reference Manual for detailed programming information. A RTSI crossbar switch, for connection to the RTSI or PXI trigger bus (PCI-DIO-32HS, PXI-6533, and AT-DIO-32HS only). The system bus interface logic for the PCI-DIO-32HS and the PXI-6533 is implemented by the National Instruments PCI MITE ASIC and includes onboard direct memory access (DMA) controllers. You can also configure DMA for the AT-DIO-32HS, but you must use your computer system s DMA controllers. The DAQCard-6533 does not support DMA. Instead, you should program the DAQCard-6533 using polled or interrupt-driven I/O. National Instruments Corporation 1-1 DIO 6533 Register-Level Programmer Manual
Chapter 1 General Description For descriptions of DIO 6533 features, modes, signal connections, and timing, refer to the DIO 6533 User Manual. For register information and bitfield locations, refer to DAQ-DIO Technical Reference Manual. DIO 6533 Register-Level Programmer Manual 1-2 National Instruments Corporation
Programming Chapter 2 This chapter contains register-level programming instructions for operating the circuitry on the DIO 6533 device. Except where noted, information applies to all DIO 6533 devices: the PCI-DIO-32HS, PXI-6533, AT-DIO-32HS, and DAQCard-6533. All software functions referred to in this chapter are provided on the DIO 6533 Register-Level Programmer Manual Companion Disk. See the Programming Examples section later in this chapter. To program a DIO 6533 device, you must write to and read from a set of registers implemented by the device. The registers fall into three categories: Bus-interface registers, which are discussed in the Bus Initialization section in this chapter Digital I/O registers, which are implemented by the DAQ-DIO and detailed in the DAQ-DIO Technical Reference Manual Two RTSI bus registers (PCI-DIO-32HS, PXI-6533, and AT-DIO-32HS only), which are described in the Programming the RTSI Bus Interface section in this chapter The programming steps for unstrobed I/O, pattern generation, and handshaking are explained in the DAQ-DIO Technical Reference Manual. These steps describe how to perform digital I/O operations by reading and writing to bitfields. A bitfield is defined as a group of contiguous bits that jointly perform a function. Because the DAQ-DIO Technical Reference Manual has detailed, step-by-step programming instructions, this register-level programmer manual gives a series of common programming examples with references to the DAQ-DIO Technical Reference Manual. The procedure for each example is presented as it appears in the DAQ-DIO Technical Reference Manual, with bitfields to be read from or written to for each function. To implement the function, you will need to read from or write to the specified registers. The complete examples are provided on the DIO 6533 Register-Level Programmer Manual Companion Disk. National Instruments Corporation 2-1 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming Bus Initialization This section describes how to configure bus-related resources for the PCI-DIO-32HS, PXI-6533, and the AT-DIO-32HS, and how to activate the DAQCard-6533. You need to complete the following steps for the appropriate DIO 6533 device before you can execute a register-level program or access DAQ circuitry. PCI-DIO-32HS and PXI-6533 Local Bus The PCI-DIO-32HS is fully compatible with the PCI Local Bus Specification, version 2.1, from the PCI Special Interest Group (SIG). The PXI-6533 is fully compatible with the PXI Specification, revision 1.0. The PCI local bus is a high performance, 32-bit bus with multiplexed address and data lines. The PCI and PXI systems arbitrate and assign resources through software, freeing you from manually setting switches and jumpers. You must configure the bus-related resources before attempting to execute a register-level program. You can use the PCI-DIO-32HS and PXI-6533 with both IBM-compatible and Mac OS computers. However, due to the difference in those systems, configuration will be different. PCI and PXI initialization on only the PC is given below. Detailed code and comments can be found on the companion disk. PCI-DIO-32HS and PXI-6533 Initialization for the PC The PCI and PXI devices use the MITE ASIC chip as the PCI or PXI bus interface. National Instruments designed this ASIC specifically for data acquisition. In order for the board to operate properly, this chip must be configured. Ordinarily, NI-DAQ performs this function, but if you are not using NI-DAQ, you must configure the MITE chip. The following sections explain how to accomplish this. The initialization is done by the Setup_Mite() function. Setup_Mite() consists of three parts. First, the function detects if the PCI or PXI local bus is present. The Is_PCI() function uses PCI BIOS 1 calls to verify that the PCI or PXI bus is present. Second, the PCI or PXI bus is scanned for all National Instruments PCI or PXI devices. The find_ni_devices() function uses PCI BIOS 1. The PCI SIG provides further information on PCI BIOS calls. DIO 6533 Register-Level Programmer Manual 2-2 National Instruments Corporation
Chapter 2 Programming calls to find all PCI or PXI devices that contain the National Instruments vendor ID (0x1093) and a PCI or PXI device ID (the PCI-DIO-32HS device ID is 0x1150 and the PXI-6533 device ID is 0x1320). If a card is found, the program stores the card s pertinent information into a data structure. Third, the MITE device windows must be configured. Base Address Register 0 (BAR0) corresponds to the base address of the MITE, while Base Address Register 1 (BAR1) is the base address of the DAQ-DIO and RTSI registers. The size of each of these windows is 4 KB. Both addresses will most likely be mapped above 1 MB in the memory map. This means that to communicate with the board you must know how to perform memory cycles to extended memory. The Setup_Mite() function will re-map the board under 1 MB in the memory map, which makes communicating with the board simpler. PCI BIOS read and write calls accomplish this. Use the pseudocode in this section to re-map the board below 1 MB. If you choose not to re-map the board, you must still perform Steps 4 and 5. All values in this example are 32 bits. 1. Write the address to which you want to re-map the MITE to PCI or PXI configuration space offset 0x10 (BAR0). 2. Write the value 0x0000aeae to offset 0x340 from the new MITE address. (This should be the power-up value. If so, this step is optional.) 3. Write the address to which you want to re-map the card register to PCI or PXI configuration space offset 0x14 (BAR1). 4. Create the device window data value by masking the new card address: device window data value = ((0xffffff00 and new card address) or (0x00000080)) If you are not re-mapping the card, then the new card address is the original value in BAR1. 5. Write the device window data value to offset 0xc0 from the new MITE address. If you are not re-mapping the card, then the new MITE address is the original value in BAR0. National Instruments Corporation 2-3 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming AT-DIO-32HS Plug and Play The sequence to re-map the board under 1 MB cannot operate successfully on PCs with the PCI-PCI bridge chip set. Those computers include the Dell Optiplex Gxpro series. In this case, the PCI or PXI initialization should read back only the card base address (BAR1) and MITE base address (BAR0), which are assigned when the PC boots. You must write your own memory read and write routines to make the examples work properly. The AT-DIO-32HS is fully compatible with the Intel Plug and Play Specification, version 1.0. The Plug and Play system arbitrates and assigns resources through software, freeing you from manually setting switches and jumpers. You must configure the bus-related resources before attempting to execute a register-level program. If your system has a Plug and Play configuration manager that assigns available resources at startup, you must query the configuration manager to determine the resources assigned to each device. If a configuration manager is not installed, you will need a configuration program to assign resources to the device. The DIO 6533 Register-Level Programmer Manual Companion Disk contains a function that you can execute to configure the base address of the AT-DIO-32HS. Note: The given Plug and Play initialization applies only for one device. If you need to configure more than one device, the Plug and Play specification explains the procedure. This manual does not cover the software implementation of the full Plug and Play protocol. Refer to the ISA Plug and Play Specification, version 1.0, available from Intel, for more information. This section discusses how to assign a base I/O address to the AT-DIO-32HS. All access to the Plug and Play registers is performed through three I/O address locations. The address port is at location 0x279, and indicates which configuration register is the target of the next data transfer. The write data port is at location 0xA79, and writes to the Plug and Play configuration register indicated by the address port contents. The read data port is moveable in the range of 0x203 to 0x3FF, and reads the Plug and Play configuration register indicated by the address port contents. Writing to certain configuration registers will set the location of the read data port. DIO 6533 Register-Level Programmer Manual 2-4 National Instruments Corporation
Chapter 2 Programming An internal state machine controls access to the Plug and Play configuration registers. The state machine consists of four states: Wait4Key, Sleep, Isolation, and Configuration. The device powers up in the Wait4Key state, where the device is inactive and unconfigured. A sequence of specific accesses to the address port will move the device into the Sleep state. This long sequence of 34 writes decreases the chance that a poorly written program that writes randomly into I/O space does not accidentally access the Plug and Play configuration registers. The Write_PNP_Initiation_Key function performs this series of writes. The device now waits in the Sleep state. If you previously configured the device, you may wish to reset all of the Plug and Play configuration registers with the Reset_PNP_Registers function. Note: If you reset the Plug and Play configuration registers, the registers will return the state machine to the Wait4Key state. You will need to write the Initiation Key to the device once more to return to the Sleep state. You can now move the device into the Isolation state. The Isolation state identifies a single Plug and Play device from all of the devices in the system. Since the example code supports only a single Plug and Play device in the system, no action is actually performed during the Isolation state. The Set_PNP_Isolation_State function moves the device from the Sleep to the Isolation state. Since no actions need to be performed in the Isolation state, you can now move the device into the Configuration state. Only the Configuration state can specify the device s resource assignment, where you set the base I/O address. The Set_PNP_Configuration_State function moves the device from the Isolation to the Configuration state. You can now assign the base I/O address for the device. The AT-DIO-32HS uses full 16-bit decoding, so you must assign both the high and low bytes of the base I/O address. Run the Assign_PNP_Base_Address function. Up to this point there has been no feedback to the program to check if everything is okay. Read the base address registers to verify that they were written correctly. First, you must assign the read data port to a free location. The read data port can be located at any location between 0x203 and 0x3FF where the lowest two bits of the address are set; for example, 0x203, 0x207, 0x20B,..., 0x3FB, 0x3FF. You must write the National Instruments Corporation 2-5 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming value of the address right-shifted by two to the configuration register, as shown in the Assign_PNP_Data_Port_Address function. You can now read the contents of the base I/O address registers with the Verify_PNP_Base_Address function. These values should match those written earlier in the program. You now need to activate the device for the assigned base I/O address to take effect. Once activated, the device will return to the Wait4Key state. The Activate_PNP_Board function activates the device. Now you can access the registers for the AT-DIO-32HS by their offset from the base I/O address assigned above. Note: You must repeat the code given above every time the computer is rebooted or powered off. The hardware stores the assigned base I/O address in an onboard register, not in any form of nonvolatile memory. The device will lose its base I/O address after a reboot. DAQCard-6533 Initialization Before you can access the DAQ circuitry on the DAQCard-6533, the card must be activated. PC cards are inactive until Card Services activates the card by assigning an interrupt level and an address space for the I/O registers. The DAQCard-6533 requires a 16-byte I/O address window and one interrupt level. There are at least two different ways to activate the card: If you are using the DAQCard-6533 with National Instruments software such as NI-DAQ, LabVIEW, or LabWindows/CVI, the NI-DAQ configuration utility requests activation. For more information about this procedure, see the section on installation and configuration in your NI-DAQ manual. If the option above is not feasible for your application, you can develop your own program to activate the card. However, this is fairly complicated, and it requires significantly more programming. If you develop your own program, you should consult the PCMCIA documents, Card Specifications and Socket Services Specifications, which explain how to activate a card using system-level calls. You will need to request an I/O window, an interrupt level, and a configuration. In the configuration, the configuration index should be set to 01 hex for normal operation. For more information about these operations, refer to Card Specifications and Socket Services Specifications. DIO 6533 Register-Level Programmer Manual 2-6 National Instruments Corporation
Chapter 2 Programming Windowing Registers AT-DIO-32HS and DAQCard-6533 Programming Examples After you activate the card, you are ready to program the DAQCard-6533. This section describes using the Windowing Registers with the AT-DIO-32HS and the DAQCard-6533. On the AT-DIO-32HS and DAQCard-6533, the DAQ-DIO registers are read from and written to in I/O space. To save I/O space, these cards allow direct reads and writes to register locations 0 through 15 only. To access DAQ-DIO locations above 15 (including, on the AT-DIO-32HS, all RTSI register locations), you must use windowing. See the DAQ-DIO Technical Reference Manual for information on DAQ-DIO windowing. Each example in this chapter provides the pseudocode for the main program. The examples follow the procedure presented in detail in the DAQ-DIO Technical Reference Manual. Further explanations on the functions are in this manual. The DIO 6533 Register Level Programmer Manual Companion Disk provides each program in its entirety. As mentioned in Chapter 1, Introduction and General Information, in the DAQ-DIO Technical Reference Manual, several write-only registers on the DAQ-DIO contain bitfields that control a number of functionally independent parts of the chip. To update bitfields, you must set or clear specific bits without changing the status of the remaining bits in the register. Since you cannot read these registers to determine which bits are set, you should maintain a soft copy of the write-only registers. Note: For simplicity, these examples do not include soft copies of the registers. If you wish to write your own examples, or modify these examples, we strongly recommend adding soft copies of the write-only registers. Please refer to the Register and Bitfield Programming Considerations section in Chapter 1 in the DAQ-DIO Technical Reference Manual for further information. National Instruments Corporation 2-7 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming PCI-DIO-32HS and PXI-6533 The DIO 6533 Register-Level Programmer Manual Companion Disk contains the support files necessary to run the examples. The support files include dma.h, dma.c, miteregb.h, lowio.h, lowio.c, pc_pci.c, pc_rwd.c, pci.c, pci.h, pcidio.h. The dma.c file contains the functions MINIMITE_DMAProgram, MINIMITE_DMAarm, and MINIMITE_DMAdisarm. The miteregb.h file contains the bitfield assignment for the MITE. The lowio.c file has the low level routines for memory read and write. The pcidio.h file declares the external function prototypes and the register addresses. The pc_pci.c file includes the Setup_Mite() function, which searches for the PCI device and reassigns the device address. The oc_rwd.c file contains the functions which read and write from Windows and device discrete registers. PCI-DIO-32HS Example 1 Configure pins 0, 2, 4, and 6 of port B for output and the remaining pins for input. Connect wires to wrap back the output pins to the input pins. Write out patterns 0b1010 and 0b1111 to the output pins. Read back the input pins and check to verify the same pattern. 1. Set up the PCI bus interface. Use the Setup_Mite function provided on the companion disk. 2. Port_B_Mask = 0x00; 3. Configure lines 0, 2, 4, and 6 as outputs and 1, 3, 5, and 7 as inputs. Port_B_Directions = 0x55; 4. Write the digital pattern PORTB = 0x44; 5. Read the digital pattern Declare variable DATA; DATA (8-bit) = PORTB; 6. Write the digital pattern PORTB = 0x55; DIO 6533 Register-Level Programmer Manual 2-8 National Instruments Corporation
Chapter 2 Programming 7. Read the digital pattern DATA (8-bit) = PORTB; AT-DIO-32HS The DIO 6533 Register-Level Programmer Manual Companion Disk contains the support files necessary to run the examples. The support files include ATPNP.c, DIO32RLP.h, and ATFNCT.c, which should all be included in the project for each example. The ATPNP.c file includes the Setup_PNP_Board function, which assigns the base I/O address, as discussed in the AT-DIO-32HS Plug and Play section earlier in this chapter. The DIO32RLP.h file declares the external function prototypes and the register addresses. The ATFNCT.c file contains functions that read from and write to windowed and direct-access registers. AT-DIO-32HS Example 1 Configure pins 0, 2, 4, and 6 of port B for output and the remaining pins for input. Wrap back the output to the input pins. Write out patterns 0b1010 and 0b1111 to the output pins. Read back the input pins and check to verify the same pattern. 1. Set up the Plug and Play interface. Use the Setup_PNP_board function provided on the companion disk 2. Port_B_Mask = 0x00; 3. Configure lines 0, 2, 4, and 6 as outputs and 1, 3, 5, and 7 as inputs Port_B_Directions = 0x55; 4. Write the digital pattern PORTB = 0x44; 5. Read the digital pattern Declare variable DATA; DATA(8-bit) = PORTB; 6. Write the digital pattern PORTB = 0x55; 7. Read the digital pattern DATA(8-bit) = PORTB; National Instruments Corporation 2-9 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming DAQCard-6533 The DIO 6533 Register-Level Programmer Manual Companion Disk contains the support files necessary to run the examples. The support files include DIO32RLP.h, and DCFNCT.c, which should all be included with the project for each example. The DIO32RLP.h file declares the external function prototypes and the register addresses. The DCFNCT.c file contains functions that read from and write to windowed and direct-access registers. DAQCard-6533 Example 1 Configure pins 0, 2, 4, and 6 of port B for output and the remaining pins for input. Wrap back the output pins to the input pins. Write out patterns 0b1010 and 0b1111 to the output pins. Read back the input pins and check to verify the same pattern. 1. Set a value to Board_Base_Address variable. This value should be the same as the I/O address assigned to DAQCard-6533 during configuration 2. Port_B_Mask = 0x00; 3. Configure lines 0, 2, 4, and 6 as outputs and 1, 3, 5, and 7 as inputs Port_B_Directions = 0x55; 4. Write the digital pattern PORTB = 0x44; 5. Read the digital pattern Declare variable DATA; DATA(8-bit) = PORTB; 6. Write the digital pattern PORTB = 0x55; 7. Read the digital pattern DATA(8-bit) = PORTB; DIO 6533 Register-Level Programmer Manual 2-10 National Instruments Corporation
Chapter 2 Programming Interrupt Programming DMA Programming PCI-DIO-32HS and PXI-6533 The DAQ-DIO has one interrupt output line. You can program both handshaking groups to generate interrupt signals to the interrupt output line when certain conditions are satisfied. The DAQ-DIO has the following features for the interrupts: One software controllable interrupt line for direct interface to the bus Up to four sets of I/O lines (one for each I/O port) can be used to program interrupts Chapter 7, Interrupt Controls, in the DAQ-DIO Technical Reference Manual, discusses DIO 6533 interrupt programming. This section describes how to use the PCI-DIO-32HS, PXI-6533, and the AT-DIO-32HS with Direct Memory Access (DMA). The MITE contains DMA channels that you can use to transfer data between its I/O port (the DAQ-DIO) and its CPU port (system memory). Each channel supports several modes of operation. One of the modes of operation is the link chaining mode, which enables you to do DMA transfers limited only by the size of the memory space. This mode of operation is used in example 5. The link chaining mode requires a linked list structure to store the information for each buffer. The linked list structure enables DMA transfers on different memory segments and makes seamless data transfer possible. Inside the linked list structure, each node contains values for TCR, MAR, DAR, and LKAR. MAR (Memory Address Register) stores the buffer s physical address; TCR (Transfer Count Register) stores the number of points to transfer; DAR (Device Address Register) is unused by the DAQ-DIO; LKAR (Link Address Register) stores the physical address of the next node. Before beginning the DMA transfers, you must load LKAR with the physical address of the first node, because the MITE needs to have an entry point to access the link chain. After you arm the DMA transfer, National Instruments Corporation 2-11 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming the MITE goes through the link chain and loads the buffer s physical address into MAR. Then the MITE transfers data from the card to the buffer (input) or from the buffer to the card (output). This process continues until the MITE reaches an empty node, a node which contains all zeros. Figure 2-1 illustrates the basic operation of the link chain mode. LKAR Use Physical Address Link Chain TCR MAR Use Physical Address Buffer 0 DAR Use Physical Address LKAR TCR MAR Use Physical Address DAR Buffer 1 Use Physical Address LKAR 0 (Last Link) 0 0 0 For simplicity, the figure shows a linear address space, such as a DOS address space. Figure 2-1. DMA Link Chaining Mode Structure PCI-DIO-32HS and PXI-6533 Example 5 Enable FIFO A and FIFO B in group 1 and FIFO C and FIFO D in group 2. Configure group 1 as input and group 2 as output. Perform 16-bit programmed I/O output and 16-bit DMA input without funneling. Use burst mode handshaking. Use wires to wrap back the output pins to the input pins. Use the 16-bit group-fifo transfers to write hex 8990,,89b7 to the output FIFOs and use 16-bit DMA to read from the input FIFOs. The DMA controller puts the data into a buffer of size 80 bytes. This example only uses one buffer, however, you can use more than one buffer if necessary. This example constructs a linked list to contain the physical address, logical address, and total transfer bytes of each buffer. You need to pass the DIO 6533 Register-Level Programmer Manual 2-12 National Instruments Corporation
Chapter 2 Programming linked list head node to the MiniMITE_DMAProgram function to program the MITE. In this example, you should wire the two groups burst handshaking signals together: wire REQ1 to ACK2, REQ2 to ACK1, and PCLK1 to PCLK2. Since this example performs no virtual-to-physical address translation, it will run only under DOS. If you want to program DMA under other operating systems, you must learn about physical memory address calculation and the use of virtual memory. For example, if you want to program DMA under Windows or Mac OS, make sure that you lock the memory locations for DMA, so the virtual memory manager cannot move the data from its current physical memory location. This example provides a basic outline for you to program the MITE for DMA transfers. The dma.c file contains the MINIMITE_DMAProgram, MINIMITE_DMAarm, and MINIMITE_DMAdisarm functions. The miteregb.h file contains the bitfield assignment for the MITE. 1. Set up the PCI bus interface. Use the Setup_Mite function provided on the companion disk. 2. Configure handshaking a. Protocol_Register_1(group 1)=0x00; b. Protocol_Register_1(group 2)=0x00; RunMode = 0 Configuration = 0 c. Configure data paths and ports Data_Path (group 1) = 0x03; FIFOEnables (A) = 1; FIFOEnables (B) = 1; Funneling = 0; GroupDirection = 0; /*input*/ Data_Path (group 2) = 0x8C; FIFOEnables (C) = 1; FIFOEnables (D) = 1; Funneling = 0; GroupDirection = 1; /*output*/ National Instruments Corporation 2-13 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming Configure ports Port_C_Mask = 0x00; /*standard drive type*/ Port_D_Mask = 0x00; Port_A_Directions = 0x00; /*input*/ Port_B_Directions = 0x00; Port_C_Directions = 0xFF; /*output*/ Port_D_Directions = 0xFF; d. Set protocol to burst mode Protocol_Register_1 (group 1) = 0x00; Protocol_Register_2 (group 1) = 0x60; Protocol_Register_3 (group 1) = 0x00; Protocol_Register_4 (group 1) = 0x08; Protocol_Register_5 (group 1) = 0x04; Protocol_Register_6 (group 1) = 0x00; Protocol_Register_7 (group 1) = 0x60; Protocol_Register_8 (group 1) = 0x01; Protocol_Register_1 (group 2) = 0x00; Protocol_Register_2 (group 2) = 0x10; Protocol_Register_3 (group 2) = 0x00; Protocol_Register_4 (group 2) = 0x20; Protocol_Register_5 (group 2) = 0x00; Protocol_Register_6 (group 2) = 0x00; Protocol_Register_7 (group 2) = 0x60; Protocol_Register_8 (group 2) = 0x01; Clock_Speed (group 1) = 0x00; Clock_Speed (group 2) = 0x00; ClockSpeed = 0; FIFO_Control (group 1) = 0x00; FIFO_Control (group 2) = 0x01; ReadyLevel = 0; e. Construct the buffer information linked list. Each node contains information about one buffer. Every node stores a buffer s physical address and logical address, and the total bytes to transfer for that buffer. DIO 6533 Register-Level Programmer Manual 2-14 National Instruments Corporation
Chapter 2 Programming f. Load output FIFOs with initial data Declare variable OUTPUT COUNT; OUTPUT COUNT = 0; FLAG = TransferReady (group 2); While (FLAG = 1) and (OUTPUT COUNT < number of points to transfer) { GroupFIFO (group 2) = data (16 bits); FLAG = TransferReady (group 2); } 3. Configure DMA DMA_Line_Control (group 1) = 0x05; DMA_Line_Control (group 2) = 0x04; Transfer_Size_Control (group 1) = 0x03; TransferWidth = 3; /*16-bit*/ Transfer_Size_Control (group 2) = 0x23; TransferWidth = 3; /*16-bit*/ RequireLevel = 1 4. Run DMA Group_1_First_Clear = 0x30; Group_2_First_Clear = 0x30; ClearPrimaryTC = 1; ClearSecondaryTC = 1; Call the MINIMITE_DMAProgram function to set up the MITE for DMA transfers. Pass the following parameters to the function: InputBufferHeadPtr: Pointer to the buffer information linked list head node NumberOfBuffers: Number of buffers to use for DMA transfers dmachannel: DMA channel you want to use direction: DMA transfer direction (Input or Output) continuous: Perform continuous DMA transfer (False or True) drqnum: DRQ channel you want to use Call MINIMITE_DMAarm to start the DMA transfer. Transfer_Count (group 1) = number of points to transfer; Transfer_Count (group 2) = number of points to transfer; Protocol_Register_1 (group 1) = 0x0F; Protocol_Register_1 (group 2) = 0x0F; National Instruments Corporation 2-15 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming Numbered = 1 RunMode = 7 /*run*/ Perform transfer for output group using programmed I/O Declare variables FLAG, DATA for (i = 1 to (TransferCount 16)) { FLAG = TransferReady (group 2); While (FLAG == 0) do GroupFIFO (of the output group) = data (16 bit); } Loop to check the status about how many bytes still remain in process. This loop will stop when the number of transfersremaining equals 0. When DMA finishes transferring data to each buffer, transfersremaining becomes 0. Declare variable DONE do{ Call the MINIMITE_DMA function get DoneBit to check status using the DONE variable }while (DONE = 0) Print out the data in the buffer. Call MINIMITE_DMAdisarm to disarm the MITE DMA. Release the memory used for the node list. Set RunModes to 0 to disable handshaking Protocol_Register_1 (group1) = 0 Protocol_Register_1 (group2) = 0 5. Clear any flags set Group_1_First_Clear = 0xFF; Group_2_First_Clear = 0xFF; Group_1_Second_Clear = 0x03; Group_2_Second_Clear = 0x03; The MITE provides a separate DMA channel for each of the two digital I/O groups (channels). Use DMA controller 1, DRQ line 1, and DACK line 1 for group 1. Use DMA controller 2, DRQ line 2, and DACK line 2 for group 2. Since the card has only two digital I/O groups, there is no need to use DMA controller 0, the third DMA controller. You can, for example, select the DMA controller and the DRQ number when you call the MINIMITE_DMAProgram and MINIMITE_DMAarm functions. The drqnum parameter selects both a DRQ line and an associated DACK line. When calling these functions, DIO 6533 Register-Level Programmer Manual 2-16 National Instruments Corporation
Chapter 2 Programming set the dmachannel and drqnum parameters equal to the group number. If you wish to use both groups simultaneously, call MINIMITE_DMAProgram, MINIMITE_DMAarm, and, when finished, the MINIMITE_DMAdisarm function twice: once for each group. AT-DIO-32HS On the AT-DIO-32HS, using DMA allows you to perform transfers in the background, without involving the CPU in every data-point transfer. In addition, DMA is typically faster than interrupt-driven I/O. For best performance, especially for high-speed pattern generation applications, you can use dual DMA. Dual DMA allows you to avoid pausing at the end of a memory page while the DMA controller waits for reprogramming. In dual DMA, a single operation uses two DMA channels, switching back and forth at the end of each page. You can reprogram one DMA channel while the other one is transferring data. If one group is using both DMA channels, you must use polled or interrupt-driven I/O for the other group, or else leave the other group idle. Unlike the PCI-DIO-32HS or the PXI-6533, the AT-DIO-32HS requires the support of your system DMA controller to perform DMA. To use DMA, you must allocate one or two 16-bit DMA channels to the AT-DIO-32HS during bus initialization. To begin the transfer, you must program both the system DMA controller and the DAQ-DIO on the AT-DIO-32HS for DMA. When you enable DMA on the AT-DIO-32HS, the DAQ-DIO begins requesting DMA service from the DMA controller, as long as the TransferReady flag is set. In the output case, TransferReady is already high, because the FIFOs are empty at this point. You can then program the DMA controller to begin the transfer. Chapter 6, DMA Controls, in the DAQ-DIO Technical Reference Manual describes how to program the DAQ-DIO for DMA. On the AT-DIO-32HS, you should set the DMALength bitfield to a non-zero value, to ensure that the AT-DIO-32HS does not monopolize the AT bus, causing problems for your computer or for other AT cards in the computer. A DMALength value of 3 specifies a maximum of 16 words of consecutive DMA and gives optimal performance. National Instruments Corporation 2-17 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming AT-DIO-32HS Example 5 Example 5 is similar to example 5 for the PCI-DIO-32HS and PXI-6533, except that you must provide your own code to program, arm, and disarm you system s DMA controller. RTSI PCI-DIO-32HS, PXI-6533, and AT-DIO-32HS Programming the RTSI Bus Interface A RTSI switch connects signals on the PCI-DIO-32HS, PXI-6533, or the AT-DIO-32HS to the seven RTSI bus trigger lines. The RTSI switch has eight pins labeled A<7..0> connected to DIO 6533 signals, and seven pins labeled B<6..0> connected to the seven RTSI bus trigger lines. Table 2-1 and Table 2-2 list the signals connected to each pin. Table 2-1. RTSI Switch Signal Connections Side A RTSI Switch Pin Signal Name Signal Direction (Pattern Direction) Signal Direction (Handshaking, No Pattern Generation) Signal Direction (No Handshaking) A0 PCLK1 Unused Source (internal clock) or receiver (external clock) A1 PCLK2 Unused Source (internal clock) or receiver (external clock) Source Source A2 REQ1 Receiver (external requests) or source (internal requests) Receiver Receiver DIO 6533 Register-Level Programmer Manual 2-18 National Instruments Corporation
Chapter 2 Programming Table 2-1. RTSI Switch Signal Connections Side A (Continued) RTSI Switch Pin Signal Name Signal Direction (Pattern Direction) Signal Direction (Handshaking, No Pattern Generation) Signal Direction (No Handshaking) A3 REQ2 Receiver (external requests) or source (internal requests) A4 ACK1 Receiver (STARTTRIG1) A5 ACK2 Receiver (STARTTRIG2) Receiver Source Source Receiver Source Source A6 STOPTRIG1 Receiver Unused Receiver A7 STOPTRIG2 Receiver Unused Receiver Table 2-2. RTSI Switch Signal Connections Side B RTSI Switch Pin Signal Name Signal Direction B0 TRIGGER0 Bidirectional B1 TRIGGER1 Bidirectional B2 TRIGGER2 Bidirectional B3 TRIGGER3 Bidirectional B4 TRIGGER4 Bidirectional B5 TRIGGER5 Bidirectional B6 TRIGGER6 Bidirectional B7 Reserved Reserved National Instruments Corporation 2-19 DIO 6533 Register-Level Programmer Manual
Chapter 2 Programming Programming the RTSI Bus Switch You can program the RTSI switch to connect any of the signals on Side A to any of the signals on Side B and vice versa. To do this, a 64-bit pattern is shifted into the RTSI switch by writing one bit at a time to the RTSI Serial Register and then writing to the RTSI Parallel Register to load the pattern into the RTSI switch. The 64-bit pattern is made up of two 32-bit patterns, one for Side A and one for Side B of the RTSI switch. The low-order 32 bits select the signal sources for the Side B pins. The high-order 32 bits select the signal sources for the Side A pins. Each of the 32-bit patterns is made up of eight, 4-bit fields; one for each pin. The 4-bit field selects the signal source and the output enable for the pin. Figure 2-2 shows the bit map of the RTSI switch 64-bit pattern BIT # 63 59 55 51 47 43 39 35 31 27 23 19 15 11 7 3 0 A7 A6 A5 A4 A3 A2 A1 A0 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB S2 A0 Control S1 S0 OUTEN BIT # 31 30 29 28 Figure 2-2. RTSI Switch Control Pattern In Figure 2-2, the fields labeled A7 through A0 and B7 through B0 are the 4-bit control fields for each RTSI switch pin of the same name. The 4-bit control field for pin A0 is shown in Figure 2-2. The bits labeled S2 through S0 are the signal source selection bits for the pin. You can select one of eight source signals. Pins A7 through A0 can have any of the pins B6 through B0 as signal sources. Pins B6 through B0 can have any of the pins A7 through A0 as signal sources. For example, the pattern 011 for S2 through S0 in the A0 control field selects the signal connected to pin B3 as the signal source for pin A0. The bit labeled OUTEN is the output enable bit for that pin. If the OUTEN bit is set, the selected source signal drives the pin (the pin acts as an output pin). If the OUTEN bit is cleared, the pin is not driven, regardless of the source signal selected; instead, you can use the pin as an input pin. DIO 6533 Register-Level Programmer Manual 2-20 National Instruments Corporation